Linking errors from definitions in ICM_20948_DMP.h #49
Description
When attempting to use the C libraries present in utils, including ICM_20948_C.h will include ICM_20948_DMP.h.
The aforementioned header defines the following
inv_androidSensor_to_control_bitsDMP_Quat9_Byte_OrderingDMP_Quat6_Byte_OrderingDMP_PQuat6_Byte_OrderingDMP_Raw_Gyro_Byte_OrderingDMP_Activity_Recognition_Byte_OrderingDMP_Secondary_On_Off_Byte_Ordering
Which will cause multiple definition errors on these symbols between ICM_20948_C.c and any other file including ICM_20948_C.h.
The definition and declaration should be separated, and a file ICM_20948_DMP.c should be created, containing the following
#include <stdint.h>
#include "ICM_20948_DMP.h"
const uint16_t inv_androidSensor_to_control_bits[ANDROID_SENSOR_NUM_MAX]=
{
// Data output control 1 register bit definition
// 16-bit accel 0x8000
// 16-bit gyro 0x4000
// 16-bit compass 0x2000
// 16-bit ALS 0x1000
// 32-bit 6-axis quaternion 0x0800
// 32-bit 9-axis quaternion + heading accuracy 0x0400
// 16-bit pedometer quaternion 0x0200
// 32-bit Geomag rv + heading accuracy 0x0100
// 16-bit Pressure 0x0080
// 32-bit calibrated gyro 0x0040
// 32-bit calibrated compass 0x0020
// Pedometer Step Detector 0x0010
// Header 2 0x0008
// Pedometer Step Indicator Bit 2 0x0004
// Pedometer Step Indicator Bit 1 0x0002
// Pedometer Step Indicator Bit 0 0x0001
// Unsupported Sensors are 0xFFFF
0xFFFF, // 0 Meta Data
0x8008, // 1 Accelerometer
0x0028, // 2 Magnetic Field
0x0408, // 3 Orientation
0x4048, // 4 Gyroscope
0x1008, // 5 Light
0x0088, // 6 Pressure
0xFFFF, // 7 Temperature
0xFFFF, // 8 Proximity <----------- fixme
0x0808, // 9 Gravity
0x8808, // 10 Linear Acceleration
0x0408, // 11 Rotation Vector
0xFFFF, // 12 Humidity
0xFFFF, // 13 Ambient Temperature
0x2008, // 14 Magnetic Field Uncalibrated
0x0808, // 15 Game Rotation Vector
0x4008, // 16 Gyroscope Uncalibrated
0x0000, // 17 Significant Motion
0x0018, // 18 Step Detector
0x0010, // 19 Step Counter <----------- fixme
0x0108, // 20 Geomagnetic Rotation Vector
0xFFFF, // 21 ANDROID_SENSOR_HEART_RATE,
0xFFFF, // 22 ANDROID_SENSOR_PROXIMITY,
0x8008, // 23 ANDROID_SENSOR_WAKEUP_ACCELEROMETER,
0x0028, // 24 ANDROID_SENSOR_WAKEUP_MAGNETIC_FIELD,
0x0408, // 25 ANDROID_SENSOR_WAKEUP_ORIENTATION,
0x4048, // 26 ANDROID_SENSOR_WAKEUP_GYROSCOPE,
0x1008, // 27 ANDROID_SENSOR_WAKEUP_LIGHT,
0x0088, // 28 ANDROID_SENSOR_WAKEUP_PRESSURE,
0x0808, // 29 ANDROID_SENSOR_WAKEUP_GRAVITY,
0x8808, // 30 ANDROID_SENSOR_WAKEUP_LINEAR_ACCELERATION,
0x0408, // 31 ANDROID_SENSOR_WAKEUP_ROTATION_VECTOR,
0xFFFF, // 32 ANDROID_SENSOR_WAKEUP_RELATIVE_HUMIDITY,
0xFFFF, // 33 ANDROID_SENSOR_WAKEUP_AMBIENT_TEMPERATURE,
0x2008, // 34 ANDROID_SENSOR_WAKEUP_MAGNETIC_FIELD_UNCALIBRATED,
0x0808, // 35 ANDROID_SENSOR_WAKEUP_GAME_ROTATION_VECTOR,
0x4008, // 36 ANDROID_SENSOR_WAKEUP_GYROSCOPE_UNCALIBRATED,
0x0018, // 37 ANDROID_SENSOR_WAKEUP_STEP_DETECTOR,
0x0010, // 38 ANDROID_SENSOR_WAKEUP_STEP_COUNTER,
0x0108, // 39 ANDROID_SENSOR_WAKEUP_GEOMAGNETIC_ROTATION_VECTOR
0xFFFF, // 40 ANDROID_SENSOR_WAKEUP_HEART_RATE,
0x0000, // 41 ANDROID_SENSOR_WAKEUP_TILT_DETECTOR,
0x8008, // 42 Raw Acc
0x4048, // 43 Raw Gyr
};
// ICM-20948 data is big-endian. We need to make it little-endian when writing into icm_20948_DMP_data_t
const int DMP_Quat9_Byte_Ordering[icm_20948_DMP_Quat9_Bytes] =
{
3,2,1,0,7,6,5,4,11,10,9,8,13,12 // Also used for Geomag
};
const int DMP_Quat6_Byte_Ordering[icm_20948_DMP_Quat6_Bytes] =
{
3,2,1,0,7,6,5,4,11,10,9,8 // Also used for Gyro_Calibr, Compass_Calibr
};
const int DMP_PQuat6_Byte_Ordering[icm_20948_DMP_PQuat6_Bytes] =
{
1,0,3,2,5,4 // Also used for Raw_Accel, Compass
};
const int DMP_Raw_Gyro_Byte_Ordering[icm_20948_DMP_Raw_Gyro_Bytes + icm_20948_DMP_Gyro_Bias_Bytes] =
{
1,0,3,2,5,4,7,6,9,8,11,10
};
const int DMP_Activity_Recognition_Byte_Ordering[icm_20948_DMP_Activity_Recognition_Bytes] =
{
0,1,5,4,3,2
};
const int DMP_Secondary_On_Off_Byte_Ordering[icm_20948_DMP_Secondary_On_Off_Bytes] =
{
1,0
};